PDF, PS

Journal of Robotics and Autonomous Systems, Vol. 8 (1991), pp. 47--63. Reprinted in Walter Van de Velde (ed.), Towards Learning Robots, Bradford/MIT Press, 1993.

@article{Kuipers:jras91, title={A robot exploration and mapping strategy based on a semantic hierarchy of spatial representations}, author={Benjamin J. Kuipers and Y.-T. Byun}, volume={8}, journal={Journal of Robotics and Autonomous Systems}, pages={47--63}, note={Reprinted in Walter Van de Velde (ed.), Towards Learning Robots, Bradford/MIT Press, 1993}, url="http://www.cs.utexas.edu/users/ai-lab?Kuipers:jras91", year={1991} }